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We study task-allocation problems where cooperative robots need to perform tasks simultaneously. We develop a distributed negotiation procedure that allows robots to find all task exchanges that reduce the team cost of a given task allocation, without robots having to know how other robots compute their robot costs. Finally, we demonstrate empirically that our negotiation procedure can substantially...
We study multi-robot routing problems (MR-LDR) where a team of robots has to visit a set of given targets with linear decreasing rewards over time, such as required for the delivery of goods to rescue sites after disasters. The objective of MR-LDR is to find an assignment of targets to robots and a path for each robot that maximizes the surplus, which is defined to be the total reward collected by...
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